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<div class="title">vfh_nn_classifier.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Copyright (c) 2010, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
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<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef VFHCLASSIFICATION_H_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define VFHCLASSIFICATION_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;fstream&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/io/pcd_io.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/features/vfh.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/features/normal_3d.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;pcl/apps/nn_classification.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;pcl/PCLPointCloud2.h&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;{</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; pcl::PointCloud&lt;pcl::VFHSignature308&gt;::Ptr</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  computeVFH (<span class="keyword">typename</span> PointCloud&lt;PointT&gt;::ConstPtr cloud, <span class="keywordtype">double</span> radius)</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  {</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    <span class="keyword">using namespace </span>pcl;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160; </div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <span class="comment">// Create an empty kdtree representation, and pass it to the objects.</span></div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    <span class="comment">// Its content will be filled inside the object, based on the given input dataset (as no other search surface is given).</span></div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    <span class="keyword">typename</span> pcl::search::KdTree&lt;PointT&gt;::Ptr tree (<span class="keyword">new</span> <a class="code" href="classpcl_1_1search_1_1_kd_tree.html">pcl::search::KdTree&lt;PointT&gt;</a> ());</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="comment">// Create the normal estimation class, and pass the input dataset to it</span></div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <a class="code" href="classpcl_1_1_normal_estimation.html">NormalEstimation&lt;PointT, Normal&gt;</a> ne;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    ne.<a class="code" href="classpcl_1_1_normal_estimation.html#ac92dbbea9d923754b3d87d981a6bd131">setInputCloud</a> (cloud);</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    ne.<a class="code" href="classpcl_1_1_feature.html#ace1caca622f06eee8ad1911228324792">setSearchMethod</a> (tree);</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    <span class="comment">// Use all neighbors in a sphere of given radius to compute the normals</span></div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    PointCloud&lt;Normal&gt;::Ptr normals (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud&lt;Normal&gt;</a> ());</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    ne.<a class="code" href="classpcl_1_1_feature.html#a44829319486a2dc415a4e068dc55c577">setRadiusSearch</a> (radius);</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    ne.<a class="code" href="classpcl_1_1_feature.html#ad5b1fa9612da40e738b1d99252c5ff2f">compute</a> (*normals);</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    <span class="comment">// Create the VFH estimation class, and pass the input dataset+normals to it</span></div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <a class="code" href="classpcl_1_1_v_f_h_estimation.html">VFHEstimation&lt;PointT, Normal, VFHSignature308&gt;</a> vfh;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    vfh.<a class="code" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">setInputCloud</a> (cloud);</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    vfh.<a class="code" href="classpcl_1_1_feature_from_normals.html#a349685ac9deb723502de9f399d0286dc">setInputNormals</a> (normals);</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    vfh.<a class="code" href="classpcl_1_1_feature.html#ace1caca622f06eee8ad1911228324792">setSearchMethod</a> (tree);</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    <span class="comment">// Output datasets</span></div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    PointCloud&lt;VFHSignature308&gt;::Ptr vfhs (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud&lt;VFHSignature308&gt;</a>);</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    <span class="comment">// Compute the features and return</span></div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    vfh.<a class="code" href="classpcl_1_1_v_f_h_estimation.html#a8ad7f79ee618d1a6f9bca5d579c36130">compute</a> (*vfhs);</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    <span class="keywordflow">return</span> vfhs;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  }</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; </div>
<div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="classpcl_1_1_v_f_h_classifier_n_n.html">   93</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_v_f_h_classifier_n_n.html">VFHClassifierNN</a></div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  {</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::VFHSignature308&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">FeatureCloud</a>;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      <span class="keyword">typedef</span> pcl::PointCloud&lt;pcl::VFHSignature308&gt;::Ptr FeatureCloudPtr;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      <span class="keyword">typedef</span> pcl::PointCloud&lt;pcl::VFHSignature308&gt;::ConstPtr FeatureCloudConstPtr;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_n_n_classification.html">NNClassification&lt;pcl::VFHSignature308&gt;::Result</a> Result;</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_n_n_classification.html">NNClassification&lt;pcl::VFHSignature308&gt;::ResultPtr</a> ResultPtr;</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160; </div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno"><a class="line" href="classpcl_1_1_v_f_h_classifier_n_n.html#aa3ca42a8830edebf8a2e51567d278259">  106</a></span>&#160;      FeatureCloudPtr <a class="code" href="classpcl_1_1_v_f_h_classifier_n_n.html#aa3ca42a8830edebf8a2e51567d278259">training_features_</a>;</div>
<div class="line"><a name="l00108"></a><span class="lineno"><a class="line" href="classpcl_1_1_v_f_h_classifier_n_n.html#acc686059f7fe1a460ae1230ae40190f0">  108</a></span>&#160;      std::vector&lt;std::string&gt; <a class="code" href="classpcl_1_1_v_f_h_classifier_n_n.html#acc686059f7fe1a460ae1230ae40190f0">labels_</a>;</div>
<div class="line"><a name="l00110"></a><span class="lineno"><a class="line" href="classpcl_1_1_v_f_h_classifier_n_n.html#a3ed6c7ba5ed10b865a4f9d7ebce70867">  110</a></span>&#160;      <a class="code" href="classpcl_1_1_n_n_classification.html">NNClassification&lt;pcl::VFHSignature308&gt;</a> <a class="code" href="classpcl_1_1_v_f_h_classifier_n_n.html#a3ed6c7ba5ed10b865a4f9d7ebce70867">classifier_</a>;</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160; </div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      <a class="code" href="classpcl_1_1_v_f_h_classifier_n_n.html">VFHClassifierNN</a> () : <a class="code" href="classpcl_1_1_v_f_h_classifier_n_n.html#aa3ca42a8830edebf8a2e51567d278259">training_features_</a> (), <a class="code" href="classpcl_1_1_v_f_h_classifier_n_n.html#acc686059f7fe1a460ae1230ae40190f0">labels_</a> (), <a class="code" href="classpcl_1_1_v_f_h_classifier_n_n.html#a3ed6c7ba5ed10b865a4f9d7ebce70867">classifier_</a> ()</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      {</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        reset ();</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;      }</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      <span class="keywordtype">void</span> reset ()</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;      {</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;        <a class="code" href="classpcl_1_1_v_f_h_classifier_n_n.html#aa3ca42a8830edebf8a2e51567d278259">training_features_</a>.reset (<span class="keyword">new</span> FeatureCloud);</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;        <a class="code" href="classpcl_1_1_v_f_h_classifier_n_n.html#acc686059f7fe1a460ae1230ae40190f0">labels_</a>.clear ();</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;        <a class="code" href="classpcl_1_1_v_f_h_classifier_n_n.html#a3ed6c7ba5ed10b865a4f9d7ebce70867">classifier_</a> = <a class="code" href="classpcl_1_1_n_n_classification.html">NNClassification&lt;pcl::VFHSignature308&gt;</a> ();</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;      }</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160; </div>
<div class="line"><a name="l00127"></a><span class="lineno"><a class="line" href="classpcl_1_1_v_f_h_classifier_n_n.html#a17909e1d3ca700241cc7a5564d1b73fc">  127</a></span>&#160;      <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1_v_f_h_classifier_n_n.html#a17909e1d3ca700241cc7a5564d1b73fc">finalizeTraining</a> ()</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;      {</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;        <a class="code" href="classpcl_1_1_v_f_h_classifier_n_n.html#a572a1755d7e27dcaff6e15fed6387fc9">finalizeTree</a> ();</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;        <a class="code" href="classpcl_1_1_v_f_h_classifier_n_n.html#a97407c340fbfe7316b5e0ac091821128">finalizeLabels</a> ();</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      }</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160; </div>
<div class="line"><a name="l00134"></a><span class="lineno"><a class="line" href="classpcl_1_1_v_f_h_classifier_n_n.html#a572a1755d7e27dcaff6e15fed6387fc9">  134</a></span>&#160;      <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1_v_f_h_classifier_n_n.html#a572a1755d7e27dcaff6e15fed6387fc9">finalizeTree</a> ()</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;      {</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;        <a class="code" href="classpcl_1_1_v_f_h_classifier_n_n.html#a3ed6c7ba5ed10b865a4f9d7ebce70867">classifier_</a>.<a class="code" href="classpcl_1_1_n_n_classification.html#a52bec8579465e01bf4ed1ed9667c69bb">setTrainingFeatures</a>(<a class="code" href="classpcl_1_1_v_f_h_classifier_n_n.html#aa3ca42a8830edebf8a2e51567d278259">training_features_</a>);</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;      }</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160; </div>
<div class="line"><a name="l00140"></a><span class="lineno"><a class="line" href="classpcl_1_1_v_f_h_classifier_n_n.html#a97407c340fbfe7316b5e0ac091821128">  140</a></span>&#160;      <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1_v_f_h_classifier_n_n.html#a97407c340fbfe7316b5e0ac091821128">finalizeLabels</a> ()</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      {</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;        <a class="code" href="classpcl_1_1_v_f_h_classifier_n_n.html#a3ed6c7ba5ed10b865a4f9d7ebce70867">classifier_</a>.<a class="code" href="classpcl_1_1_n_n_classification.html#a240a675d7ba75bbc77482ed7accc7ce0">setTrainingLabels</a>(<a class="code" href="classpcl_1_1_v_f_h_classifier_n_n.html#acc686059f7fe1a460ae1230ae40190f0">labels_</a>);</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;      }</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
<div class="line"><a name="l00150"></a><span class="lineno"><a class="line" href="classpcl_1_1_v_f_h_classifier_n_n.html#a16995bb93ff3408e34d6f4262558307f">  150</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_v_f_h_classifier_n_n.html#a16995bb93ff3408e34d6f4262558307f">saveTrainingFeatures</a>(std::string file_name, std::string labels_file_name)</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;      {</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;        <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_v_f_h_classifier_n_n.html#acc686059f7fe1a460ae1230ae40190f0">labels_</a>.size () == <a class="code" href="classpcl_1_1_v_f_h_classifier_n_n.html#aa3ca42a8830edebf8a2e51567d278259">training_features_</a>-&gt;points.size ())</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;        {</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;          <span class="keywordflow">if</span> (pcl::io::savePCDFile (file_name.c_str (), *<a class="code" href="classpcl_1_1_v_f_h_classifier_n_n.html#aa3ca42a8830edebf8a2e51567d278259">training_features_</a>) != 0)</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;            <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;          std::ofstream f (labels_file_name.c_str ());</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;          BOOST_FOREACH (std::string s, <a class="code" href="classpcl_1_1_v_f_h_classifier_n_n.html#acc686059f7fe1a460ae1230ae40190f0">labels_</a>)</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;            f &lt;&lt; s &lt;&lt; <span class="stringliteral">&quot;\n&quot;</span>;</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;          <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;        }</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;        <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;      }</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160; </div>
<div class="line"><a name="l00170"></a><span class="lineno"><a class="line" href="classpcl_1_1_v_f_h_classifier_n_n.html#a99666d5d41670cb4f697d82b50438815">  170</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_v_f_h_classifier_n_n.html#a99666d5d41670cb4f697d82b50438815">addTrainingFeatures</a> (<span class="keyword">const</span> FeatureCloudPtr training_features, <span class="keyword">const</span> std::vector&lt;std::string&gt; &amp;labels)</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;      {</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;        <span class="keywordflow">if</span> (labels.size () == training_features-&gt;points.size ())</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;        {</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;          <a class="code" href="classpcl_1_1_v_f_h_classifier_n_n.html#acc686059f7fe1a460ae1230ae40190f0">labels_</a>.insert (<a class="code" href="classpcl_1_1_v_f_h_classifier_n_n.html#acc686059f7fe1a460ae1230ae40190f0">labels_</a>.end (), labels.begin (), labels.end ());</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;          <a class="code" href="classpcl_1_1_v_f_h_classifier_n_n.html#aa3ca42a8830edebf8a2e51567d278259">training_features_</a>-&gt;points.insert (<a class="code" href="classpcl_1_1_v_f_h_classifier_n_n.html#aa3ca42a8830edebf8a2e51567d278259">training_features_</a>-&gt;points.end (), training_features-&gt;points.begin (), training_features-&gt;points.end ());</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;          <a class="code" href="classpcl_1_1_v_f_h_classifier_n_n.html#aa3ca42a8830edebf8a2e51567d278259">training_features_</a>-&gt;header = training_features-&gt;header;</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;          <a class="code" href="classpcl_1_1_v_f_h_classifier_n_n.html#aa3ca42a8830edebf8a2e51567d278259">training_features_</a>-&gt;height = 1;</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;          <a class="code" href="classpcl_1_1_v_f_h_classifier_n_n.html#aa3ca42a8830edebf8a2e51567d278259">training_features_</a>-&gt;width  = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span> (<a class="code" href="classpcl_1_1_v_f_h_classifier_n_n.html#aa3ca42a8830edebf8a2e51567d278259">training_features_</a>-&gt;points.size ());</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;          <a class="code" href="classpcl_1_1_v_f_h_classifier_n_n.html#aa3ca42a8830edebf8a2e51567d278259">training_features_</a>-&gt;is_dense &amp;= training_features-&gt;is_dense;</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;          <a class="code" href="classpcl_1_1_v_f_h_classifier_n_n.html#aa3ca42a8830edebf8a2e51567d278259">training_features_</a>-&gt;sensor_origin_ = training_features-&gt;sensor_origin_;</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;          <a class="code" href="classpcl_1_1_v_f_h_classifier_n_n.html#aa3ca42a8830edebf8a2e51567d278259">training_features_</a>-&gt;sensor_orientation_ = training_features-&gt;sensor_orientation_;</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;          <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;        }</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;        <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;      }</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160; </div>
<div class="line"><a name="l00193"></a><span class="lineno"><a class="line" href="classpcl_1_1_v_f_h_classifier_n_n.html#ab0fc1dee96f2153683f20ca3d04bd8b7">  193</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_v_f_h_classifier_n_n.html#ab0fc1dee96f2153683f20ca3d04bd8b7">loadTrainingFeatures</a>(std::string file_name, std::string labels_file_name)</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;      {</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;        FeatureCloudPtr cloud (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">FeatureCloud</a>);</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;        <span class="keywordflow">if</span> (pcl::io::loadPCDFile (file_name.c_str (), *cloud) != 0)</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;          <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;        std::vector&lt;std::string&gt; labels;</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;        std::ifstream f (labels_file_name.c_str ());</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;        std::string label;</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;        <span class="keywordflow">while</span> (getline (f, label))</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;          <span class="keywordflow">if</span> (label.size () &gt; 0)</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;            labels.push_back(label);</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_v_f_h_classifier_n_n.html#a99666d5d41670cb4f697d82b50438815">addTrainingFeatures</a> (cloud, labels);</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;      }</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160; </div>
<div class="line"><a name="l00214"></a><span class="lineno"><a class="line" href="classpcl_1_1_v_f_h_classifier_n_n.html#ab7890486e6a1a2fef2739b5584b76273">  214</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_v_f_h_classifier_n_n.html#ab7890486e6a1a2fef2739b5584b76273">loadTrainingData</a> (std::string file_name, std::string label)</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;      {</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;        <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> cloud_blob;</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;        <span class="keywordflow">if</span> (pcl::io::loadPCDFile (file_name.c_str (), cloud_blob) != 0)</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;          <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_v_f_h_classifier_n_n.html#aa19d13823be5c2f50a3b7bec142fac00">addTrainingData</a> (cloud_blob, label);</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;      }</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160; </div>
<div class="line"><a name="l00228"></a><span class="lineno"><a class="line" href="classpcl_1_1_v_f_h_classifier_n_n.html#aa19d13823be5c2f50a3b7bec142fac00">  228</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_v_f_h_classifier_n_n.html#aa19d13823be5c2f50a3b7bec142fac00">addTrainingData</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;training_data, std::string &amp;label)</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;      {</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;        <span class="comment">// Create label list containing the single label</span></div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;        std::vector&lt;std::string&gt; labels;</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;        labels.push_back (label);</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160; </div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;        <span class="comment">// Compute the feature from the cloud and add it as a training example</span></div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;        FeatureCloudPtr vfhs = <a class="code" href="classpcl_1_1_v_f_h_classifier_n_n.html#a4f944f11daeb19da7779ac069f312b32">computeFeature</a> (training_data);</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_v_f_h_classifier_n_n.html#a99666d5d41670cb4f697d82b50438815">addTrainingFeatures</a>(vfhs, labels);</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;      }</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160; </div>
<div class="line"><a name="l00245"></a><span class="lineno"><a class="line" href="classpcl_1_1_v_f_h_classifier_n_n.html#ac1e03de3f4cd816900a90474f42f3749">  245</a></span>&#160;      ResultPtr <a class="code" href="classpcl_1_1_v_f_h_classifier_n_n.html#ac1e03de3f4cd816900a90474f42f3749">classify</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;testing_data, <span class="keywordtype">double</span> radius = 300, <span class="keywordtype">double</span> min_score = 0.002)</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;      {</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;        <span class="comment">// compute the VFH feature for this point cloud</span></div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;        FeatureCloudPtr vfhs = <a class="code" href="classpcl_1_1_v_f_h_classifier_n_n.html#a4f944f11daeb19da7779ac069f312b32">computeFeature</a> (testing_data);</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;        <span class="comment">// compute gaussian parameter producing the desired minimum score (around 50 for the default values)</span></div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;        <span class="keywordtype">float</span> gaussian_param = - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (radius / log (min_score));</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;        <span class="comment">// TODO accept result to be filled in by reference</span></div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_v_f_h_classifier_n_n.html#a3ed6c7ba5ed10b865a4f9d7ebce70867">classifier_</a>.<a class="code" href="classpcl_1_1_n_n_classification.html#ad0a5ee6bfd2250845459c03bd542fa74">classify</a>(vfhs-&gt;points.at (0), radius, gaussian_param);</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;      }</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160; </div>
<div class="line"><a name="l00260"></a><span class="lineno"><a class="line" href="classpcl_1_1_v_f_h_classifier_n_n.html#a4f944f11daeb19da7779ac069f312b32">  260</a></span>&#160;      FeatureCloudPtr <a class="code" href="classpcl_1_1_v_f_h_classifier_n_n.html#a4f944f11daeb19da7779ac069f312b32">computeFeature</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;points, <span class="keywordtype">double</span> radius = 0.03)</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;      {</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;        pcl::PointCloud&lt;pcl::PointXYZ&gt;::Ptr cloud (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::PointXYZ&gt;</a> ());</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;        pcl::fromPCLPointCloud2 (points, *cloud);</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;        <span class="keywordflow">return</span> pcl::computeVFH&lt;pcl::PointXYZ&gt; (cloud, radius);</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;      }</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;  };</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;}</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160; </div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* VFHCLASSIFICATION_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclasspcl_1_1_feature_from_normals_html_a349685ac9deb723502de9f399d0286dc"><div class="ttname"><a href="classpcl_1_1_feature_from_normals.html#a349685ac9deb723502de9f399d0286dc">pcl::FeatureFromNormals::setInputNormals</a></div><div class="ttdeci">void setInputNormals(const PointCloudNConstPtr &amp;normals)</div><div class="ttdoc">Provide a pointer to the input dataset that contains the point normals of the XYZ dataset....</div><div class="ttdef"><b>Definition:</b> feature.h:344</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_a44829319486a2dc415a4e068dc55c577"><div class="ttname"><a href="classpcl_1_1_feature.html#a44829319486a2dc415a4e068dc55c577">pcl::Feature::setRadiusSearch</a></div><div class="ttdeci">void setRadiusSearch(double radius)</div><div class="ttdoc">Set the sphere radius that is to be used for determining the nearest neighbors used for the feature e...</div><div class="ttdef"><b>Definition:</b> feature.h:200</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_ace1caca622f06eee8ad1911228324792"><div class="ttname"><a href="classpcl_1_1_feature.html#ace1caca622f06eee8ad1911228324792">pcl::Feature::setSearchMethod</a></div><div class="ttdeci">void setSearchMethod(const KdTreePtr &amp;tree)</div><div class="ttdoc">Provide a pointer to the search object.</div><div class="ttdef"><b>Definition:</b> feature.h:166</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_ad5b1fa9612da40e738b1d99252c5ff2f"><div class="ttname"><a href="classpcl_1_1_feature.html#ad5b1fa9612da40e738b1d99252c5ff2f">pcl::Feature::compute</a></div><div class="ttdeci">void compute(PointCloudOut &amp;output)</div><div class="ttdoc">Base method for feature estimation for all points given in &lt;setInputCloud (), setIndices ()&gt; using th...</div><div class="ttdef"><b>Definition:</b> feature.hpp:189</div></div>
<div class="ttc" id="aclasspcl_1_1_n_n_classification_html"><div class="ttname"><a href="classpcl_1_1_n_n_classification.html">pcl::NNClassification</a></div><div class="ttdoc">Nearest neighbor search based classification of PCL point type features. FLANN is used to identify a ...</div><div class="ttdef"><b>Definition:</b> nn_classification.h:60</div></div>
<div class="ttc" id="aclasspcl_1_1_n_n_classification_html_a240a675d7ba75bbc77482ed7accc7ce0"><div class="ttname"><a href="classpcl_1_1_n_n_classification.html#a240a675d7ba75bbc77482ed7accc7ce0">pcl::NNClassification::setTrainingLabels</a></div><div class="ttdeci">void setTrainingLabels(const std::vector&lt; std::string &gt; &amp;labels)</div><div class="ttdoc">Setting the labels for each training example. The unique labels from the list are stored as the class...</div><div class="ttdef"><b>Definition:</b> nn_classification.h:112</div></div>
<div class="ttc" id="aclasspcl_1_1_n_n_classification_html_a52bec8579465e01bf4ed1ed9667c69bb"><div class="ttname"><a href="classpcl_1_1_n_n_classification.html#a52bec8579465e01bf4ed1ed9667c69bb">pcl::NNClassification::setTrainingFeatures</a></div><div class="ttdeci">void setTrainingFeatures(const typename pcl::PointCloud&lt; PointT &gt;::ConstPtr &amp;features)</div><div class="ttdoc">Setting the training features.</div><div class="ttdef"><b>Definition:</b> nn_classification.h:84</div></div>
<div class="ttc" id="aclasspcl_1_1_n_n_classification_html_ad0a5ee6bfd2250845459c03bd542fa74"><div class="ttname"><a href="classpcl_1_1_n_n_classification.html#ad0a5ee6bfd2250845459c03bd542fa74">pcl::NNClassification::classify</a></div><div class="ttdeci">ResultPtr classify(const PointT &amp;p_q, double radius, float gaussian_param, int max_nn=INT_MAX)</div><div class="ttdoc">Utility function for the default classification process.</div><div class="ttdef"><b>Definition:</b> nn_classification.h:185</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_estimation_html"><div class="ttname"><a href="classpcl_1_1_normal_estimation.html">pcl::NormalEstimation</a></div><div class="ttdoc">NormalEstimation estimates local surface properties (surface normals and curvatures)at each 3D point....</div><div class="ttdef"><b>Definition:</b> normal_3d.h:200</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_estimation_html_ac92dbbea9d923754b3d87d981a6bd131"><div class="ttname"><a href="classpcl_1_1_normal_estimation.html#ac92dbbea9d923754b3d87d981a6bd131">pcl::NormalEstimation::setInputCloud</a></div><div class="ttdeci">virtual void setInputCloud(const PointCloudConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input dataset</div><div class="ttdef"><b>Definition:</b> normal_3d.h:290</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_a1952d7101f3942bac3b69ed55c1ca7ea"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">pcl::PCLBase::setInputCloud</a></div><div class="ttdeci">virtual void setInputCloud(const PointCloudConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input dataset</div><div class="ttdef"><b>Definition:</b> pcl_base.hpp:66</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_v_f_h_classifier_n_n_html"><div class="ttname"><a href="classpcl_1_1_v_f_h_classifier_n_n.html">pcl::VFHClassifierNN</a></div><div class="ttdoc">Utility class for nearest neighbor search based classification of VFH features.</div><div class="ttdef"><b>Definition:</b> vfh_nn_classifier.h:94</div></div>
<div class="ttc" id="aclasspcl_1_1_v_f_h_classifier_n_n_html_a16995bb93ff3408e34d6f4262558307f"><div class="ttname"><a href="classpcl_1_1_v_f_h_classifier_n_n.html#a16995bb93ff3408e34d6f4262558307f">pcl::VFHClassifierNN::saveTrainingFeatures</a></div><div class="ttdeci">bool saveTrainingFeatures(std::string file_name, std::string labels_file_name)</div><div class="ttdoc">Save the list of training examples and corresponding labels.</div><div class="ttdef"><b>Definition:</b> vfh_nn_classifier.h:150</div></div>
<div class="ttc" id="aclasspcl_1_1_v_f_h_classifier_n_n_html_a17909e1d3ca700241cc7a5564d1b73fc"><div class="ttname"><a href="classpcl_1_1_v_f_h_classifier_n_n.html#a17909e1d3ca700241cc7a5564d1b73fc">pcl::VFHClassifierNN::finalizeTraining</a></div><div class="ttdeci">void finalizeTraining()</div><div class="ttdoc">Set up the classifier with the current training features and labels</div><div class="ttdef"><b>Definition:</b> vfh_nn_classifier.h:127</div></div>
<div class="ttc" id="aclasspcl_1_1_v_f_h_classifier_n_n_html_a3ed6c7ba5ed10b865a4f9d7ebce70867"><div class="ttname"><a href="classpcl_1_1_v_f_h_classifier_n_n.html#a3ed6c7ba5ed10b865a4f9d7ebce70867">pcl::VFHClassifierNN::classifier_</a></div><div class="ttdeci">NNClassification&lt; pcl::VFHSignature308 &gt; classifier_</div><div class="ttdoc">Nearest neighbor classifier instantiated for VFH features</div><div class="ttdef"><b>Definition:</b> vfh_nn_classifier.h:110</div></div>
<div class="ttc" id="aclasspcl_1_1_v_f_h_classifier_n_n_html_a4f944f11daeb19da7779ac069f312b32"><div class="ttname"><a href="classpcl_1_1_v_f_h_classifier_n_n.html#a4f944f11daeb19da7779ac069f312b32">pcl::VFHClassifierNN::computeFeature</a></div><div class="ttdeci">FeatureCloudPtr computeFeature(const pcl::PCLPointCloud2 &amp;points, double radius=0.03)</div><div class="ttdoc">Extract the VFH feature describing the given point cloud.</div><div class="ttdef"><b>Definition:</b> vfh_nn_classifier.h:260</div></div>
<div class="ttc" id="aclasspcl_1_1_v_f_h_classifier_n_n_html_a572a1755d7e27dcaff6e15fed6387fc9"><div class="ttname"><a href="classpcl_1_1_v_f_h_classifier_n_n.html#a572a1755d7e27dcaff6e15fed6387fc9">pcl::VFHClassifierNN::finalizeTree</a></div><div class="ttdeci">void finalizeTree()</div><div class="ttdoc">Set up the classifier with the current training features</div><div class="ttdef"><b>Definition:</b> vfh_nn_classifier.h:134</div></div>
<div class="ttc" id="aclasspcl_1_1_v_f_h_classifier_n_n_html_a97407c340fbfe7316b5e0ac091821128"><div class="ttname"><a href="classpcl_1_1_v_f_h_classifier_n_n.html#a97407c340fbfe7316b5e0ac091821128">pcl::VFHClassifierNN::finalizeLabels</a></div><div class="ttdeci">void finalizeLabels()</div><div class="ttdoc">Set up the classifier with the current training example labels</div><div class="ttdef"><b>Definition:</b> vfh_nn_classifier.h:140</div></div>
<div class="ttc" id="aclasspcl_1_1_v_f_h_classifier_n_n_html_a99666d5d41670cb4f697d82b50438815"><div class="ttname"><a href="classpcl_1_1_v_f_h_classifier_n_n.html#a99666d5d41670cb4f697d82b50438815">pcl::VFHClassifierNN::addTrainingFeatures</a></div><div class="ttdeci">bool addTrainingFeatures(const FeatureCloudPtr training_features, const std::vector&lt; std::string &gt; &amp;labels)</div><div class="ttdoc">Fill the list of training examples and corresponding labels.</div><div class="ttdef"><b>Definition:</b> vfh_nn_classifier.h:170</div></div>
<div class="ttc" id="aclasspcl_1_1_v_f_h_classifier_n_n_html_aa19d13823be5c2f50a3b7bec142fac00"><div class="ttname"><a href="classpcl_1_1_v_f_h_classifier_n_n.html#aa19d13823be5c2f50a3b7bec142fac00">pcl::VFHClassifierNN::addTrainingData</a></div><div class="ttdeci">bool addTrainingData(const pcl::PCLPointCloud2 &amp;training_data, std::string &amp;label)</div><div class="ttdoc">Add the feature extracted from the cloud as a training example with the given labels.</div><div class="ttdef"><b>Definition:</b> vfh_nn_classifier.h:228</div></div>
<div class="ttc" id="aclasspcl_1_1_v_f_h_classifier_n_n_html_aa3ca42a8830edebf8a2e51567d278259"><div class="ttname"><a href="classpcl_1_1_v_f_h_classifier_n_n.html#aa3ca42a8830edebf8a2e51567d278259">pcl::VFHClassifierNN::training_features_</a></div><div class="ttdeci">FeatureCloudPtr training_features_</div><div class="ttdoc">Point cloud containing the training VFH features</div><div class="ttdef"><b>Definition:</b> vfh_nn_classifier.h:106</div></div>
<div class="ttc" id="aclasspcl_1_1_v_f_h_classifier_n_n_html_ab0fc1dee96f2153683f20ca3d04bd8b7"><div class="ttname"><a href="classpcl_1_1_v_f_h_classifier_n_n.html#ab0fc1dee96f2153683f20ca3d04bd8b7">pcl::VFHClassifierNN::loadTrainingFeatures</a></div><div class="ttdeci">bool loadTrainingFeatures(std::string file_name, std::string labels_file_name)</div><div class="ttdoc">Fill the list of training examples and corresponding labels.</div><div class="ttdef"><b>Definition:</b> vfh_nn_classifier.h:193</div></div>
<div class="ttc" id="aclasspcl_1_1_v_f_h_classifier_n_n_html_ab7890486e6a1a2fef2739b5584b76273"><div class="ttname"><a href="classpcl_1_1_v_f_h_classifier_n_n.html#ab7890486e6a1a2fef2739b5584b76273">pcl::VFHClassifierNN::loadTrainingData</a></div><div class="ttdeci">bool loadTrainingData(std::string file_name, std::string label)</div><div class="ttdoc">Add the feature extracted from the cloud at the specified location as a training example with the giv...</div><div class="ttdef"><b>Definition:</b> vfh_nn_classifier.h:214</div></div>
<div class="ttc" id="aclasspcl_1_1_v_f_h_classifier_n_n_html_ac1e03de3f4cd816900a90474f42f3749"><div class="ttname"><a href="classpcl_1_1_v_f_h_classifier_n_n.html#ac1e03de3f4cd816900a90474f42f3749">pcl::VFHClassifierNN::classify</a></div><div class="ttdeci">ResultPtr classify(const pcl::PCLPointCloud2 &amp;testing_data, double radius=300, double min_score=0.002)</div><div class="ttdoc">Utility function for the default classification process.</div><div class="ttdef"><b>Definition:</b> vfh_nn_classifier.h:245</div></div>
<div class="ttc" id="aclasspcl_1_1_v_f_h_classifier_n_n_html_acc686059f7fe1a460ae1230ae40190f0"><div class="ttname"><a href="classpcl_1_1_v_f_h_classifier_n_n.html#acc686059f7fe1a460ae1230ae40190f0">pcl::VFHClassifierNN::labels_</a></div><div class="ttdeci">std::vector&lt; std::string &gt; labels_</div><div class="ttdoc">Class label for each training example</div><div class="ttdef"><b>Definition:</b> vfh_nn_classifier.h:108</div></div>
<div class="ttc" id="aclasspcl_1_1_v_f_h_estimation_html"><div class="ttname"><a href="classpcl_1_1_v_f_h_estimation.html">pcl::VFHEstimation</a></div><div class="ttdoc">VFHEstimation estimates the Viewpoint Feature Histogram (VFH) descriptor for a given point cloud data...</div><div class="ttdef"><b>Definition:</b> vfh.h:72</div></div>
<div class="ttc" id="aclasspcl_1_1_v_f_h_estimation_html_a8ad7f79ee618d1a6f9bca5d579c36130"><div class="ttname"><a href="classpcl_1_1_v_f_h_estimation.html#a8ad7f79ee618d1a6f9bca5d579c36130">pcl::VFHEstimation::compute</a></div><div class="ttdeci">void compute(PointCloudOut &amp;output)</div><div class="ttdoc">Overloaded computed method from pcl::Feature.</div><div class="ttdef"><b>Definition:</b> vfh.hpp:65</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_kd_tree_html"><div class="ttname"><a href="classpcl_1_1search_1_1_kd_tree.html">pcl::search::KdTree</a></div><div class="ttdoc">search::KdTree is a wrapper class which inherits the pcl::KdTree class for performing search function...</div><div class="ttdef"><b>Definition:</b> kdtree.h:63</div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
<div class="ttc" id="astructpcl_1_1_p_c_l_point_cloud2_html"><div class="ttname"><a href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a></div><div class="ttdef"><b>Definition:</b> PCLPointCloud2.h:21</div></div>
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